﻿using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Net;
using System.Net.Sockets;
using System.Threading;
using MySqlX.XDevAPI;
using static System.Net.Mime.MediaTypeNames;
using static Eagle._Tests.Default;

namespace vlcplay
{
    public partial class Gimbal : Form
    {
        bool IsUdpcRecvStart = false;
        static UdpClient client;
        long dt_last = 0;
        processByte pro_byte = new processByte();
        private delegate void PrintMsgDelegate(byte printflag, string type, byte[] command);
        //定义接收服务端发送消息的回调
        private delegate void ReceiveMsgCallBack(string strMsg);
        //声明
        private ReceiveMsgCallBack receiveCallBack;
        bool thread_recv_flag = true;
        public Gimbal()
        {
            InitializeComponent();
            
        }
        private void SetValue(string strValue)
        {
            this.richTextBox_show.AppendText(strValue + "\r\n");
        }
        private void button_connect_Click(object sender, EventArgs e)
        {
            if (!IsUdpcRecvStart)
            {
                client = new UdpClient(0);       // 当前客户端使用的端口
                client.Connect(this.textBox_ip.Text.Trim(), Convert.ToInt32(this.textBox_port.Text.Trim())); //与服务器建立连接
                receiveCallBack = new ReceiveMsgCallBack(SetValue);
                Thread Thread_recv = new Thread(new ThreadStart(ReciveMsg))
                {
                    IsBackground = true
                };
                thread_recv_flag = true;
                Thread_recv.Start();
                this.richTextBox_show.AppendText("客户端已经开启\r\n");
                button_connect.Text = "关闭";
                textBox_ip.Enabled = false;
                textBox_port.Enabled = false;
                IsUdpcRecvStart = true;
                //连接时主动发一个数据，让udp知道本机ip及端口
                byte[] sendBytes = pro_byte.StringTOMsg("1"); // 将消息编码成字符串数组
                client.Send(sendBytes, sendBytes.Length);       // 发送数据报
            }
            else 
            {
                this.richTextBox_show.AppendText("客户端已经关闭\r\n");
                thread_recv_flag = false;
                client.Close();
                button_connect.Text = "打开";
                textBox_ip.Enabled = true;
                textBox_port.Enabled = true;
                IsUdpcRecvStart = false;
            }
        }
        /// <summary>
        /// 打印报文
        /// </summary>
        /// <param name="command"></param>
        private void PrintMsg(byte printflag, string type, byte[] command = null)
        {
            if (base.InvokeRequired)
            {
                base.Invoke(new PrintMsgDelegate(this.PrintMsg), new object[] { printflag, type, command });
            }
            else
            {
                if (printflag == 1)
                {
                    if (command == null)
                    {
                        if (type == "\r\n")
                        {
                            if (richTextBox_show.Text.Length != 0)
                            {
                                richTextBox_show.AppendText("\r\n");
                            }
                        }
                        else
                        {
                            richTextBox_show.AppendText(string.Format("{0} {1}\r\n", DateTime.Now, type));
                        }
                    }
                    else
                    {
                        if (type == "接收")
                        {
                            richTextBox_show.SelectionColor = Color.Blue;
                            long dt_now = DateTime.Now.ToFileTime();
                            long dt_delay = (dt_now - dt_last) / 10000;
                            //this.richTextBox_show.AppendText(string.Format("{0} {1}：{2}：{3}\r\n", DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss:fff"), type, dt_delay, ByteToString(command)));
                            richTextBox_show.AppendText(string.Format("{0} {1}：{2}\r\n", DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss:fff"), type, pro_byte.ByteToString(command)));//去掉帧间延时
                            dt_last = dt_now;
                        }
                        else if (type == "发送")
                        {
                            richTextBox_show.SelectionColor = Color.Green;
                            richTextBox_show.AppendText(string.Format("{0} {1}：{2}\r\n", DateTime.Now, type, pro_byte.ByteToString(command)));
                        }
                        else
                        {
                            richTextBox_show.AppendText(string.Format("{0} {1}：{2}\r\n", DateTime.Now, type, pro_byte.ByteToString(command)));
                        }
                        richTextBox_show.SelectionColor = Color.Black;
                    }
                }
            }
        }
        /// <summary>
        /// 处理报文
        /// </summary>
        /// <param name="buffer"></param>
        private void dealReadMsg(byte[] buffer)
        {
            PrintMsg(1, "接收", buffer);//打印信息
            if (buffer.Length < 8)
            {
                return;
            }
        }
        /// <summary>
        /// 接收发送给本机ip对应端口号的数据报
        /// </summary>
        private void ReciveMsg()
        {
            while (thread_recv_flag)
            {
                try 
                { 
                    var remoteIpEndPoint = new IPEndPoint(IPAddress.Parse(this.textBox_ip.Text.Trim()), Convert.ToInt32(this.textBox_port.Text.Trim())); // 远程端点，即发送消息方的端点
                    byte[] buffer = new byte[1024];
                    buffer = client.Receive(ref remoteIpEndPoint);//接收数据报
                    //2种方式线程访问控件
                    //1函数里使用Invoke
                    dealReadMsg(buffer);//处理报文
                    //2使用invoke 回调函数
                    //string output_log = "接收：" + buffer.ToString();
                    //this.richTextBox_show.Invoke(receiveCallBack, output_log);
                }
                catch (Exception)
                {
                    ;
                }
            }
        }

        private void calc_crc16_MCRF4XX(byte[] p_data, int data_len)
        {
            UInt16[] table_crc16_MCRF4XX = new UInt16[] {
                    0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
                    0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
                    0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
                    0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
                    0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
                    0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
                    0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
                    0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
                    0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
                    0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
                    0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
                    0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
                    0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
                    0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
                    0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
                    0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
                    0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
                    0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
                    0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
                    0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
                    0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
                    0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
                    0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
                    0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
                    0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
                    0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
                    0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
                    0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
                    0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
                    0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
                    0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
                    0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
                };

            byte crc_hi = 0xFF; /* high CRC byte initialized */
            byte crc_lo = 0xFF; /* low CRC byte initialized */
            byte crc_EXTRA = 0x09;//mavlink 150000 xml 客户提供
            int i = 0; /* will index into CRC lookup */
            byte crc_deal_data;
            this.richTextBox_show.AppendText(string.Format("{0} 解析：{1}\r\n", DateTime.Now, pro_byte.ByteToString(p_data)));
            /* pass through message data */
            for (int j=0;j<data_len;j++)
            { 
                i = crc_hi ^ p_data[j]; /* calculate the CRC  */
                this.richTextBox_show.AppendText(string.Format("i：{0} j:{1} crc(i):{2}\r\n", i.ToString(),j.ToString(), table_crc16_MCRF4XX[i].ToString("X2")));
                crc_deal_data = (byte)(table_crc16_MCRF4XX[i] & 0xff);
                crc_hi = (byte)(crc_lo ^ crc_deal_data);
                this.richTextBox_show.AppendText(string.Format("crc_hi：{0}\r\n", crc_hi.ToString("X2")));
                crc_deal_data = (byte)((table_crc16_MCRF4XX[i] >> 8) & 0xff);
                crc_lo = crc_deal_data;
                this.richTextBox_show.AppendText(string.Format("crc_lo：{0}\r\n", crc_lo.ToString("X2")));
            }

            i = crc_hi ^ crc_EXTRA; /* calculate the CRC  */
            this.richTextBox_show.AppendText(string.Format("i：{0}  crc(i):{1}\r\n", i.ToString(), table_crc16_MCRF4XX[i].ToString("X2")));
            crc_deal_data = (byte) (table_crc16_MCRF4XX[i] & 0xff);
            crc_hi = (byte) (crc_lo ^ crc_deal_data);
            this.richTextBox_show.AppendText(string.Format("crc_hi：{0}\r\n", crc_hi.ToString("X2")));
            crc_deal_data = (byte) ((table_crc16_MCRF4XX[i] >> 8) & 0xff);
            crc_lo = crc_deal_data;
            this.richTextBox_show.AppendText(string.Format("crc_lo：{0}\r\n", crc_lo.ToString("X2")));

            MessageBox.Show(crc_lo.ToString("X2") +":" +crc_hi.ToString("X2"));
            //return (crc_lo << 8 | crc_hi);
        }
        private void button_send_Click(object sender, EventArgs e)
        {
            /// <summary>
            /// 向特定ip的主机的端口发送数据报
            /// </summary>
            try
            {
                var msg = this.richTextBox_send.Text.Trim();       　　 // 获取控制台字符串
                byte[] sendBytes = pro_byte.StringTOMsg(msg); // 将消息编码成字符串数组
#if false
                calc_crc16_MCRF4XX(sendBytes, sendBytes.Length); //CRC16/MCRF4XX验证
#else
                if (IsUdpcRecvStart)
                {
                    client.Send(sendBytes, sendBytes.Length);       // 发送数据报
                                                                    //richTextBox_show.Text = msg.ToString();
                    this.richTextBox_show.AppendText(string.Format("{0} 发送：{1}\r\n", DateTime.Now, pro_byte.ByteToString(sendBytes)));
                }
                else
                {
                    MessageBox.Show("请打开udp!!!");
                }
#endif
            }
            catch (Exception ex)
            {
                MessageBox.Show("发送消息出错:" + ex.Message);
            }
        }
    }
}
